A Hardwired Polymorphic Neural Network for a CPU-less Autonomous Mobile Robot

Seiji Tokura, Akio Ishiguro

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

In order to construct truly autonomous mobile robots, the concept of implementability is highly indispensable: all parts such as controllers, power systems, batteries should be embedded inside a body. Therefore, the implementing controller on hardware is one of the most promising ways, since this contributes to low power consumption and miniaturization and so on. Another crucial requirement in the field of autonomous mobile robots is robustness. That is, autonomous mobile robots have to cope with their unpredictably changing environment in real time. In this study, to meet these requirements the concept of Dynamically Rearrangeable Electrical Circuit(DREC) is proposed and we implement this onto FPGAs as physical electronic circuits by borrowing the idea from neuromodulation widely observed in biological nervous systems by the diffusion-reaction mechanism of neuromodulators. We developed the DREC for the peg-pushing task as a practical example. We confirmed that the physical DREC can successfully regulate the behavior according to the situation by changing its properties in real time (see video).

本文言語English
ページ1216-1221
ページ数6
出版ステータスPublished - 2003
外部発表はい
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
継続期間: 2003 10月 272003 10月 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域United States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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